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Add Vehicle.wind properties

QGC4.4
Don Gagne 9 years ago
parent
28625888f5
commit
2d7fcb2465
5 changed files with 134 additions and 9 deletions
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  1. 1
      qgroundcontrol.qrc
  2. 18
      src/FactSystem/Fact.cc
  3. 47
      src/Vehicle/Vehicle.cc
  4. 36
      src/Vehicle/Vehicle.h
  5. 27
      src/Vehicle/WindFact.json

1
qgroundcontrol.qrc
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@ -157,5 +157,6 @@ @@ -157,5 +157,6 @@
<file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
<file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>
<file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
<file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
</qresource>
</RCC>

18
src/FactSystem/Fact.cc
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@ -255,10 +255,24 @@ QString Fact::_variantToString(const QVariant& variant) const @@ -255,10 +255,24 @@ QString Fact::_variantToString(const QVariant& variant) const
switch (type()) {
case FactMetaData::valueTypeFloat:
valueString = QString("%1").arg(variant.toFloat(), 0, 'f', decimalPlaces());
{
float fValue = variant.toFloat();
if (qIsNaN(fValue)) {
valueString = QStringLiteral("--.--");
} else {
valueString = QString("%1").arg(fValue, 0, 'f', decimalPlaces());
}
}
break;
case FactMetaData::valueTypeDouble:
valueString = QString("%1").arg(variant.toDouble(), 0, 'f', decimalPlaces());
{
double dValue = variant.toDouble();
if (qIsNaN(dValue)) {
valueString = QStringLiteral("--.--");
} else {
valueString = QString("%1").arg(dValue, 0, 'f', decimalPlaces());
}
}
break;
default:
valueString = variant.toString();

47
src/Vehicle/Vehicle.cc
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@ -57,6 +57,7 @@ const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL"; @@ -57,6 +57,7 @@ const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL";
const char* Vehicle::_gpsFactGroupName = "gps";
const char* Vehicle::_batteryFactGroupName = "battery";
const char* Vehicle::_windFactGroupName = "wind";
const char* VehicleGPSFactGroup::_hdopFactName = "hdop";
const char* VehicleGPSFactGroup::_vdopFactName = "vdop";
@ -78,6 +79,10 @@ const int VehicleBatteryFactGroup::_currentUnavailable = -1; @@ -78,6 +79,10 @@ const int VehicleBatteryFactGroup::_currentUnavailable = -1;
const double VehicleBatteryFactGroup::_temperatureUnavailable = -1.0;
const int VehicleBatteryFactGroup::_cellCountUnavailable = -1.0;
const char* VehicleWindFactGroup::_directionFactName = "direction";
const char* VehicleWindFactGroup::_speedFactName = "speed";
const char* VehicleWindFactGroup::_verticalSpeedFactName = "verticalSpeed";
Vehicle::Vehicle(LinkInterface* link,
int vehicleId,
MAV_AUTOPILOT firmwareType,
@ -144,6 +149,7 @@ Vehicle::Vehicle(LinkInterface* link, @@ -144,6 +149,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _altitudeAMSLFact (0, _altitudeAMSLFactName, FactMetaData::valueTypeDouble)
, _gpsFactGroup(this)
, _batteryFactGroup(this)
, _windFactGroup(this)
{
_addLink(link);
@ -225,8 +231,11 @@ Vehicle::Vehicle(LinkInterface* link, @@ -225,8 +231,11 @@ Vehicle::Vehicle(LinkInterface* link,
_addFactGroup(&_gpsFactGroup, _gpsFactGroupName);
_addFactGroup(&_batteryFactGroup, _batteryFactGroupName);
_addFactGroup(&_windFactGroup, _windFactGroupName);
_gpsFactGroup.setVehicle(this);
_batteryFactGroup.setVehicle(this);
_windFactGroup.setVehicle(this);
}
Vehicle::~Vehicle()
@ -324,6 +333,12 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes @@ -324,6 +333,12 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
case MAVLINK_MSG_ID_SCALED_IMU3:
emit mavlinkScaledImu3(message);
break;
// Following are ArduPilot dialect messages
case MAVLINK_MSG_ID_WIND:
_handleWind(message);
break;
}
emit mavlinkMessageReceived(message);
@ -331,6 +346,16 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes @@ -331,6 +346,16 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
_uas->receiveMessage(message);
}
void Vehicle::_handleWind(mavlink_message_t& message)
{
mavlink_wind_t wind;
mavlink_msg_wind_decode(&message, &wind);
_windFactGroup.direction()->setRawValue(wind.direction);
_windFactGroup.speed()->setRawValue(wind.speed);
_windFactGroup.verticalSpeed()->setRawValue(wind.speed_z);
}
void Vehicle::_handleSysStatus(mavlink_message_t& message)
{
mavlink_sys_status_t sysStatus;
@ -1315,3 +1340,25 @@ void VehicleBatteryFactGroup::setVehicle(Vehicle* vehicle) @@ -1315,3 +1340,25 @@ void VehicleBatteryFactGroup::setVehicle(Vehicle* vehicle)
{
_vehicle = vehicle;
}
VehicleWindFactGroup::VehicleWindFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/WindFact.json", parent)
, _vehicle(NULL)
, _directionFact (0, _directionFactName, FactMetaData::valueTypeDouble)
, _speedFact (0, _speedFactName, FactMetaData::valueTypeDouble)
, _verticalSpeedFact(0, _verticalSpeedFactName, FactMetaData::valueTypeDouble)
{
_addFact(&_directionFact, _directionFactName);
_addFact(&_speedFact, _speedFactName);
_addFact(&_verticalSpeedFact, _verticalSpeedFactName);
// Start out as not available "--.--"
_directionFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_speedFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_verticalSpeedFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
}
void VehicleWindFactGroup::setVehicle(Vehicle* vehicle)
{
_vehicle = vehicle;
}

36
src/Vehicle/Vehicle.h
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@ -52,6 +52,36 @@ Q_DECLARE_LOGGING_CATEGORY(VehicleLog) @@ -52,6 +52,36 @@ Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
class Vehicle;
class VehicleWindFactGroup : public FactGroup
{
Q_OBJECT
public:
VehicleWindFactGroup(QObject* parent = NULL);
Q_PROPERTY(Fact* direction READ direction CONSTANT)
Q_PROPERTY(Fact* speed READ speed CONSTANT)
Q_PROPERTY(Fact* verticalSpeed READ verticalSpeed CONSTANT)
Fact* direction(void) { return &_directionFact; }
Fact* speed(void) { return &_speedFact; }
Fact* verticalSpeed(void) { return &_verticalSpeedFact; }
void setVehicle(Vehicle* vehicle);
static const char* _directionFactName;
static const char* _speedFactName;
static const char* _verticalSpeedFactName;
private slots:
private:
Vehicle* _vehicle;
Fact _directionFact;
Fact _speedFact;
Fact _verticalSpeedFact;
};
class VehicleGPSFactGroup : public FactGroup
{
Q_OBJECT
@ -214,6 +244,7 @@ public: @@ -214,6 +244,7 @@ public:
Q_PROPERTY(FactGroup* gps READ gpsFactGroup CONSTANT)
Q_PROPERTY(FactGroup* battery READ batteryFactGroup CONSTANT)
Q_PROPERTY(FactGroup* wind READ windFactGroup CONSTANT)
/// Resets link status counters
Q_INVOKABLE void resetCounters ();
@ -363,6 +394,7 @@ public: @@ -363,6 +394,7 @@ public:
FactGroup* gpsFactGroup (void) { return &_gpsFactGroup; }
FactGroup* batteryFactGroup (void) { return &_batteryFactGroup; }
FactGroup* windFactGroup (void) { return &_windFactGroup; }
void setConnectionLostEnabled(bool connectionLostEnabled);
@ -465,6 +497,7 @@ private: @@ -465,6 +497,7 @@ private:
void _handleRCChannelsRaw(mavlink_message_t& message);
void _handleBatteryStatus(mavlink_message_t& message);
void _handleSysStatus(mavlink_message_t& message);
void _handleWind(mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg);
void _mapTrajectoryStart(void);
void _mapTrajectoryStop(void);
@ -577,6 +610,7 @@ private: @@ -577,6 +610,7 @@ private:
VehicleGPSFactGroup _gpsFactGroup;
VehicleBatteryFactGroup _batteryFactGroup;
VehicleWindFactGroup _windFactGroup;
static const char* _rollFactName;
static const char* _pitchFactName;
@ -586,8 +620,10 @@ private: @@ -586,8 +620,10 @@ private:
static const char* _climbRateFactName;
static const char* _altitudeRelativeFactName;
static const char* _altitudeAMSLFactName;
static const char* _gpsFactGroupName;
static const char* _batteryFactGroupName;
static const char* _windFactGroupName;
static const int _vehicleUIUpdateRateMSecs = 100;

27
src/Vehicle/WindFact.json
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@ -0,0 +1,27 @@ @@ -0,0 +1,27 @@
{
"version": 1,
"properties": [
{
"name": "direction",
"shortDescription": "Wind Direction",
"type": "double",
"decimalPlaces": 1,
"units": "degrees"
},
{
"name": "speed",
"shortDescription": "Wind Spd",
"type": "double",
"decimalPlaces": 1,
"units": "m/s"
},
{
"name": "verticalSpeed",
"shortDescription": "Wind Spd (vert)",
"type": "double",
"decimalPlaces": 1,
"units": "m/s"
}
]
}
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